#ifndef __PID_H
#define __PID_H

typedef struct {
    float KP;
    float KI;
    float KD;
    float i;
    float last_err;
    float i_max;
    float last_d;
    float I_TIME;    
} PID_Struct;

float PID_Release(PID_Struct *PID,float target,float now);
void reset_PID(PID_Struct * PID);
void set_PID(PID_Struct * PID,float p,float i,float d);

#endif /*__PID_H */